A human inspired stable object load transfer for robots in hand-over tasks

A human-inspired hand-over control strategy is proposed for the haptic interaction of two dual-fingered hands for the planar case. It is based on a grasp controller for an unknown object which achieves, via fingertip rolling, a stable grasp and a real object mass estimation. Object load transfer is receiver initiated, follows human evidence and involves awareness of the other hand´s state based solely on local proprioceptive measurements. Simulation results illustrate the proposed approach.